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‎Images/Controller.PNG

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‎Libraries/CFL_Libs/Libraries/Contact_Forces_Lib.slx

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‎Libraries/CFL_Libs/Libraries/Help/Box_to_Belt_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m

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‎Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m

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‎Libraries/CFL_Libs/Libraries/Help/Circle_to_Circle_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Circle_to_Finite_Line_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_DBox_IMAGE.png

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‎Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use.m

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‎Libraries/CFL_Libs/Libraries/Help/Face_to_Plane_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Force_Laws.m

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‎Libraries/CFL_Libs/Libraries/Help/Friction_Laws.m

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_in_Sphere_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Belt_Contact.m

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%% Sphere to Belt Contact Force (3D)
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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Belt_DBox_IMAGE.png

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Cone_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Plane_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Sphere_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/Sphere_to_Tube_Contact.m

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‎Libraries/CFL_Libs/Libraries/Help/html/Box_to_Belt_Contact.html

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</style></head><body><div class="content"><h1>Box to Belt Contact Forces (2D)</h1><!--introduction--><p>This block models planar contact forces between a box and a conveyor belt. The conveyor belt moves at the speed specified by the input signal in m/s.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Belt_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of box and belt</li><li>Box and belt are in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Belt Contact Forces (2D)</h1><!--introduction--><p>This block models planar contact forces between a box and a conveyor belt. The conveyor belt moves at the speed specified by the input signal in m/s.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Belt_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of box and belt</li><li>Box and belt are in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Box Contact Force (2D)</h1><!--introduction--><p>This subsystem models planar contact forces between two boxes.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Box Contact Force (2D)</h1><!--introduction--><p>This subsystem models planar contact forces between two boxes.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Box Contact Force, Base Corners to Follower Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Box Contact Force, Base Corners to Follower Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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‎Libraries/CFL_Libs/Libraries/Help/html/Box_to_Box_Contact_Forces_BoxF_Corners.html

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</style></head><body><div class="content"><h1>Box to Box Contact Force, Follower Corners to Base Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Box to Box Contact Force, Follower Corners to Base Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Circle Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Circle_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle</li><li>Circle is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of CirB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Circle Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Circle_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle</li><li>Circle is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of CirB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Finite Line Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a finite line. The force is active above and below the line.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Finite_Line_Help_IMAGE.png" alt=""> </p><p>Frame connected to LinB port:</p><div><ol><li>Located at midpoint of line.</li><li>X-axis is normal to the finite line.</li><li>Y-axis is along the finite line.</li></ol></div><p>Frame connected to the CirF port:</p><div><ol><li>Z-axis aligned with frame attached to LinB port.</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Finite Line Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a finite line. The force is active above and below the line.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Finite_Line_Help_IMAGE.png" alt=""> </p><p>Frame connected to LinB port:</p><div><ol><li>Located at midpoint of line.</li><li>X-axis is normal to the finite line.</li><li>Y-axis is along the finite line.</li></ol></div><p>Frame connected to the CirF port:</p><div><ol><li>Z-axis aligned with frame attached to LinB port.</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Ring Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a ring. The force is active on the outside and the inside of the ring.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Ring_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle/ring</li><li>Circle/Ring is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of RinB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2017 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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</style></head><body><div class="content"><h1>Circle to Ring Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a ring. The force is active on the outside and the inside of the ring.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Ring_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle/ring</li><li>Circle/Ring is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of RinB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2018 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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